project(task)
include_directories(
${INCLUDEPY}
)
set_source_files_properties(pyCubic.c PROPERTIES COMPILE_FLAGS "-I/usr/local/lib/python3.9/dist-packages/numpy/core/include -DNPY_NO_DEPRECATED_API=NPY_1_7_API_VERSION")
add_library(taskmod
motion_al.cc
zucsvr.cc
zuctask.cc 
zuccanon.cc 
zuctaskmain.cc 
taskintf.cc 
DYN_toppra.cc 
rcstat.cc
loadidentify.cc 
augmentedmatrix.cc 
taskclass.cc 
backtrace.cc 
jakar7kin_interp.cc 
taskjoint.cc
../motion/zucmotglb.c 
../motion/usrmotintf.cc 
../motion/zucmotutil.cc 
../motion/dbuf.c
../motion/stashf.cc 
useless_intf.cc
taskintf_multirobot.cc
taskintf_update.cc
taskintf_config.cc
)

link_directories(${CMAKE_SOURCE_DIR}/${HOST_ARCH}/lib)
target_link_libraries(taskmod 
PRIVATE funcio
PRIVATE jkutil
PRIVATE mbio
PRIVATE zlog
PRIVATE rs274 
PRIVATE hiredis
PRIVATE dl rt pthread
PRIVATE JAKADYN
PRIVATE safety
PRIVATE dynamic
PRIVATE motion_cmd
PRIVATE axis_setting_cmd
PRIVATE axisgroup
PRIVATE rob_common
)

add_subdirectory(test)